Articulated structure for legged walking robot
US5159988A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Dec 14, 1990 |
| Grant date | Nov 3, 1992 |
| Priority date | — |
| Expiry date | Dec 14, 2010 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J17/0275
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A legged walking robot such as a two-legged walking robot, for example, has an articulated structure with at least two degrees of freedom, one of which is a degree of freedom for angularly moving a leg in a pitch direction about a first axis of a hip joint assembly, comprising an electric motor for angularly moving the leg in the pitch direction. The electric motor has an output shaft which is axially aligned with the first axis about which the leg is angularly movable in the pitch direction. The articulated structure also has a speed reducer having an input shaft which coaxial with the output shaft of the electric motor. The other degree of freedom is a degree of freedom for angularly moving the leg in a roll direction normal to the pitch direction. The articulated structure also includes a second electric motor for angularly moving the leg in the roll direction and a second speed reducer having an output shaft which is coaxial with a second axis about which the leg is angularly movable in the roll direction.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.